Robot Fine-Tuning Made Easy: Pre-Training Rewards and Policies for Autonomous Real-World Reinforcement Learning

no code implementations • 23 Oct 2023 • Jingyun Yang, Max Sobol Mark, Brandon Vu, Archit Sharma, Jeannette Bohg, Chelsea Finn

We aim to enable this paradigm in robotic reinforcement learning, allowing a robot to learn a new task with little human effort by leveraging data and models from the Internet.

reinforcement-learning Robot Manipulation

Stabilize to Act: Learning to Coordinate for Bimanual Manipulation

no code implementations • 3 Sep 2023 • Jennifer Grannen, Yilin Wu, Brandon Vu, Dorsa Sadigh

We counteract this challenge by drawing inspiration from humans to propose a novel role assignment framework: a stabilizing arm holds an object in place to simplify the environment while an acting arm executes the task.